collisionCylinder

Create collision cylinder geometry

Description

Use collisionCylinder to create a cylinder collision geometry centered at the origin.

Creation

Syntax

CYL = collisionCylinder(Radius,Length)

Description

CYL = collisionCylinder(Radius,Length) creates a cylinder collision geometry with a specified Radius and Length. The cylinder is axis-aligned with its own body-fixed frame. The side of the cylinder lies along the z-axis. The origin of the body-fixed frame is at the center of the cylinder.

Properties

Radius — Radius

positive scalar

Radius of cylinder, specified as a positive scalar. Units are in meters.

Data Types: double

Length — Length

positive scalar

Length of cylinder, specified as a positive scalar. Units are in meters.

Data Types: double

Pose — Pose

eye(4) (default) | real-valued matrix

Pose of the collision geometry relative to the world frame, specified as a 4-by-4 homogeneous matrix. You can change the pose after you create the collision geometry.

Data Types: double

Object Functions

show	Show collision geometry
convertToCollisionMesh	Convert collision primitive geometry into collision mesh geometry
fitCollisionCapsule	Fit collision capsule around collision geometry

Examples

Create and Visualize Cylinder Collision Geometry

Create a cylinder collision geometry centered at the origin. The cylinder is 4 meters long with a radius of 1 meter.

rad = 1;
len = 4;
cyl = collisionCylinder(rad,len)

cyl = 
  collisionCylinder with properties:

    Radius: 1
    Length: 4
      Pose: [4x4 double]

Visualize the cylinder.

show(cyl)
title('Cylinder')

Create a homogeneous transformation that corresponds to a clockwise rotation of $$\pi /4$$ radians about the y-axis. Set the cylinder pose to the new matrix. Show the cylinder.

ang = pi/4;
mat = axang2tform([0 1 0 ang]);
cyl.Pose = mat;
show(cyl)

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2019b